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  1. # Generated by stepconf 1.1 at Wed Oct 4 22:43:09 2017
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt trivkins
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  6. loadrt hal_parport cfg="0 out"
  7. setp parport.0.reset-time 5000
  8. loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v
  9. loadrt encoder num_chan=1
  10. loadrt abs count=1
  11. loadrt scale count=1
  12. loadrt lowpass count=1
  13. loadrt near
  14.  
  15. addf parport.0.read base-thread
  16. addf stepgen.make-pulses base-thread
  17. addf encoder.update-counters base-thread
  18. #addf pwmgen.make-pulses base-thread
  19. addf parport.0.write base-thread
  20. addf parport.0.reset base-thread
  21.  
  22. addf stepgen.capture-position servo-thread
  23. addf encoder.capture-position servo-thread
  24. addf motion-command-handler servo-thread
  25. addf motion-controller servo-thread
  26. addf stepgen.update-freq servo-thread
  27.  
  28. addf abs.0 servo-thread
  29. addf scale.0 servo-thread
  30. addf lowpass.0 servo-thread
  31. addf near.0 servo-thread
  32.  
  33. net spindle-cmd-rpm => stepgen.3.velocity-cmd
  34. net spindle-on <= motion.spindle-on
  35. net spindle-pwm <= stepgen.3.step
  36. net spindle-cmd-rpm <= motion.spindle-speed-out
  37. net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
  38. net spindle-cmd-rps <= motion.spindle-speed-out-rps
  39. net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  40. net spindle-at-speed => motion.spindle-at-speed
  41. net spindle-cw <= motion.spindle-forward
  42. net spindle-brake <= motion.spindle-brake
  43.  
  44. setp encoder.0.position-scale 250.000000
  45. net spindle-position encoder.0.position => motion.spindle-revs
  46. net spindle-velocity-feedback-rps encoder.0.velocity => motion.spindle-speed-in
  47. net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
  48. net spindle-phase-a encoder.0.phase-A
  49. net spindle-phase-b encoder.0.phase-B
  50. net spindle-index encoder.0.phase-Z
  51.  
  52. net estop-out => parport.0.pin-01-out
  53. net xstep => parport.0.pin-02-out
  54. setp parport.0.pin-02-out-reset 1
  55. net xdir => parport.0.pin-03-out
  56. net ystep => parport.0.pin-04-out
  57. setp parport.0.pin-04-out-reset 1
  58. net ydir => parport.0.pin-05-out
  59. net zstep => parport.0.pin-06-out
  60. setp parport.0.pin-06-out-reset 1
  61. net zdir => parport.0.pin-07-out
  62. net spindle-pwm => parport.0.pin-08-out
  63. net spindle-cw => parport.0.pin-09-out
  64. net spindle-brake => parport.0.pin-14-out
  65. net xenable => parport.0.pin-17-out
  66. net spindle-phase-a <= parport.0.pin-10-in
  67. net spindle-phase-b <= parport.0.pin-11-in
  68. net spindle-index <= parport.0.pin-15-in
  69.  
  70. setp stepgen.0.position-scale [AXIS_0]SCALE
  71. setp stepgen.0.steplen 1
  72. setp stepgen.0.stepspace 0
  73. setp stepgen.0.dirhold 36000
  74. setp stepgen.0.dirsetup 36000
  75. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  76. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  77. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  78. net xstep <= stepgen.0.step
  79. net xdir <= stepgen.0.dir
  80. net xenable axis.0.amp-enable-out => stepgen.0.enable
  81.  
  82. setp stepgen.1.position-scale [AXIS_1]SCALE
  83. setp stepgen.1.steplen 1
  84. setp stepgen.1.stepspace 0
  85. setp stepgen.1.dirhold 36000
  86. setp stepgen.1.dirsetup 36000
  87. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  88. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  89. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  90. net ystep <= stepgen.1.step
  91. net ydir <= stepgen.1.dir
  92. net yenable axis.1.amp-enable-out => stepgen.1.enable
  93.  
  94. setp stepgen.2.position-scale [AXIS_2]SCALE
  95. setp stepgen.2.steplen 1
  96. setp stepgen.2.stepspace 0
  97. setp stepgen.2.dirhold 36000
  98. setp stepgen.2.dirsetup 36000
  99. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  100. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  101. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  102. net zstep <= stepgen.2.step
  103. net zdir <= stepgen.2.dir
  104. net zenable axis.2.amp-enable-out => stepgen.2.enable
  105.  
  106.  
  107. setp stepgen.3.position-scale 100
  108. setp stepgen.3.steplen 1
  109. setp stepgen.3.stepspace 0
  110.  
  111. net estop-out <= iocontrol.0.user-enable-out
  112. net estop-out => iocontrol.0.emc-enable-in
  113.  
  114. loadusr -W hal_manualtoolchange
  115. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  116. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  117. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  118. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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